CN103537802B - 平板太阳能集热器激光焊机加工的定位方法 - Google Patents

平板太阳能集热器激光焊机加工的定位方法 Download PDF

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CN103537802B
CN103537802B CN201210239318.6A CN201210239318A CN103537802B CN 103537802 B CN103537802 B CN 103537802B CN 201210239318 A CN201210239318 A CN 201210239318A CN 103537802 B CN103537802 B CN 103537802B
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copper pipe
pinch roller
welding
laser
video camera
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CN103537802A (zh
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周钢
彭琦明
邓传经
郭军
段海春
孙文
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Wuhan Chutian Laser Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/14—Heat exchangers

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

本发明涉及一种平板太阳能集热器激光焊机加工的视觉定位方法。本发明公开了一种平板太阳能激光焊接铜管和平板的视觉识别定位系统。本系统采用了两个摄像头，分别位于压轮的前后两端，并调整好摄像头和压轮的直线度；当焊接头运动至需要焊接位置后，沿运动方向位于压轮之前的摄像头对焊接的铜管进行视频采集，将采集到的图像按照灰度值进行数字处理，分析得到铜管的中心位，重新校准压轮的位置，使得压轮准确的位于要焊接铜管的上方。本发明能够保证激光焊接头的铜管压轮与焊接铜管的准确对位，保证了整机的平稳运行。

Description

平板太阳能集热器激光焊机加工的定位方法
技术领域
本发明涉及一种平板太阳能集热器的加工，具体涉及一种平板太阳能集热器激光焊机加工的定位方法。
背景技术
本发明做出以前，平板太阳能集热器激光焊机在进行吸热板和铜管架的焊接时采用人工或者固定程序的方法来实现压轮和焊接铜管的对位，由于铜管架的制作不标准和容易变形，且一致性极差，导致在焊接的过程中经常发生压轮与铜管不能准确对位的情况，甚至压轮不能顺利的压到铜管上，而无法实现激光的焊接。使得平板太阳能集热器激光焊机不能稳定运行，其产品质量得不到保证，增加了企业成本，降低了工作效率，加大了人员的劳动强度。
发明内容
本发明的目的是提供一种平板太阳能集热器激光焊机加工的定位方法，能够使平板太阳能集热器与铜管实施激光焊接时，压轮与铜管准确对位，确保平板太阳能集热器与铜管之间的焊接质量，提高了工作效率，降低了成本，减轻了工作人员的劳动强度。
为了达到上述目的，本发明有如下技术方案：
本发明的一种平板太阳能集热器激光焊机加工的定位方法，有以下步骤：
1）将需要焊接的铜管架放置在集热板上，将压轮压在铜管架上的铜管上；
2）采用两个摄像机，分别位于压轮的前后两端，两个摄像机随压轮在铜管架上方往返运动，两个摄像机交替使用，向左运动时采用左边的摄像机一，向右边运动时采用右边的摄像机二；
3）采用两个线光源，该两个线光源分别位于两个摄像机的两侧，其中，摄像机与铜管的垂直轴线与相邻的线光源形成夹角，线光源在摄像机正下方的铜管表面上形成高亮光的月牙轮廓，两个线光源交替使用，向左运动时采用左边的线光源一，向右边运动时采用右边的线光源二；
4）摄像机对高亮光的月牙轮廓进行视觉识别，通过计算机对图像灰度值的处理，形成完整清晰的边界轮廓；
5）通过比较轮廓中心位置与实际压轮位置的偏差校准压轮位置，实现精确对位，然后通过焊接激光器将铜管与集热板焊接在一起。
由于采取了以上技术方案，本发明的优点在于：
本发明采用了上述步骤之后，能够实现压轮与铜管在焊接过程中的自动对位，确保了压轮与铜管在焊接过程中不发生偏差，保证了设备的平稳运行,确保了铜管与集热板之间的焊接质量，提高了工作效率，降低了人员的劳动强度。
附图说明
图1为本发明焊接装置和工件的示意图；
图2为本发明在起始位置焊接的示意图；
图3为本发明在终止位置焊接的示意图。
图中，1、集热板；2、铜管；3、压轮；4、摄像机一；5、摄像机二；6、线光源一；7、焊接激光器；8、焊接起始位置；9、焊接终止位置；10、线光源二。
具体实施方式
以下实施例用于说明本发明，但不用来限制本发明的范围。
本发明的一种平板太阳能集热器激光焊机加工的定位方法，有以下步骤：
1）将需要焊接的铜管架放置在集热板上，将压轮压在铜管架上的铜管上；
2）采用两个摄像机，分别位于压轮的前后两端，两个摄像机随压轮在铜管架上方往返运动，两个摄像机交替使用，向左运动时采用左边的摄像机一，向右边运动时采用右边的摄像机二；
3）采用两个线光源，该两个线光源分别位于两个摄像机的两侧，其中，摄像机与铜管的垂直轴线与相邻的线光源形成夹角，线光源在摄像机正下方的铜管表面上形成高亮光的月牙轮廓，两个线光源交替使用，向左运动时采用左边的线光源一，向右边运动时采用右边的线光源二；所述两个线光源为633nm的线性光源，即一字线激光器，是半导体激光器，该半导体激光器发出的激光为一字线状光斑，功率5mW，工作距离100mm，线状光斑的宽度为0.8mm。
4）摄像机对高亮光的月牙轮廓进行视觉识别，通过计算机对图像灰度值的处理，形成完整清晰的边界轮廓；
5）通过比较轮廓中心位置与实际压轮位置的偏差校准压轮位置，实现精确对位，然后通过焊接激光器将铜管与集热板焊接在一起；所述校准压轮位置是通过摄像机一、摄像机二，计算机、伺服电机、传动机构自动实现的。
显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无法对所有的实施方式予以穷举。凡是属于本发明的技术方案所引伸出的显而易见的变化或变动仍处于本发明的保护范围之列。

Claims (1)

1.一种平板太阳能集热器激光焊机加工的定位方法，其特征在于有以下步骤：
1)将需要焊接的铜管架放置在集热板上，将压轮压在铜管架上的铜管上；
2)采用两个摄像机，分别位于压轮的前后两端，两个摄像机随压轮在铜管架上方往返运动，两个摄像机交替使用，向左运动时采用左边的摄像机一，向右边运动时采用右边的摄像机二；
3)采用两个线光源，该两个线光源分别位于两个摄像机的两侧，其中，摄像机与铜管的垂直轴线与相邻的线光源形成夹角，线光源在摄像机正下方的铜管表面上形成高亮光的月牙轮廓，两个线光源交替使用，向左运动时采用左边的线光源一，向右边运动时采用右边的线光源二；所述两个线光源为633nm的线性光源，是半导体激光器，该半导体激光器发出的激光为一字线状光斑，功率5mW，工作距离100mm，线状光斑的宽度为0.8mm；
4)摄像机对高亮光的月牙轮廓进行视觉识别，通过计算机对图像灰度值的处理，形成完整清晰的边界轮廓；
5)通过比较轮廓中心位置与实际压轮位置的偏差校准压轮位置，实现精确对位，然后通过焊接激光器将铜管与集热板焊接在一起。
CN201210239318.6A 2012-07-11 2012-07-11 平板太阳能集热器激光焊机加工的定位方法 Active CN103537802B (zh)

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Publication number Priority date Publication date Assignee Title
CN1175687A (zh) * 1996-07-29 1998-03-11 埃尔帕特朗尼股份公司 用于跟踪和检查边缘或者边界的方法以及设备
DE102007030395A1 (de) * 2007-06-29 2009-01-02 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren und Vorrichtung zum Laserstrahlschweißen eines Werkstücks
CN101380695A (zh) * 2007-09-05 2009-03-11 武汉楚天激光（集团）股份有限公司 用于板式太阳能吸热器的双光路光纤激光焊接机
CN101456182A (zh) * 2007-12-12 2009-06-17 中国科学院自动化研究所 大型工件焊接智能机器人装置
CN101954557A (zh) * 2009-07-16 2011-01-26 北京石油化工学院 结构光焊缝图像跟踪的二维位置信息提取方法
CN102091870A (zh) * 2009-12-14 2011-06-15 武汉楚天激光（集团）股份有限公司 专用于板式太阳能集热器的光纤传输自动激光焊接系统

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